//*******************************************************
// ShoreSide Configuration File

ServerHost = localhost
ServerPort = $(MOOS_PORT)
Community  = shoreside

#include plugs.moos <origin_warp>

//--------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 100

  Run = MOOSDB          @ NewConsole = false
  Run = pRealm          @ NewConsole = false
  Run = pMarineViewer   @ NewConsole = false
  Run = pLogger         @ NewConsole = false
  Run = pShare          @ NewConsole = false
  Run = pHostInfo       @ NewConsole = false
  Run = uFldShoreBroker @ NewConsole = false
  Run = uProcessWatch   @ NewConsole = false
  Run = uFldNodeComms   @ NewConsole = false
}

#include plugs.moos <pShare>
#include plugs.moos <pHostInfo>
#include plugs.moos <uProcessWatch>

//--------------------------------------------------
// uFldNodeComms Config Block

ProcessConfig = uFldNodeComms
{
  AppTick   = 2
  CommsTick = 2

  comms_range      = 5000
  critical_range   = 25

  min_msg_interval = 0
  max_msg_length   = 10000
  groups           = false

  view_node_rpt_pulses = false
}

//--------------------------------------------------
// uFldShoreBroker Config Block

ProcessConfig = uFldShoreBroker
{
  AppTick   = 1
  CommsTick = 1

  qbridge  = DEPLOY, RETURN, STATION_KEEP, NODE_REPORT, NODE_MESSAGE
  qbridge  = MOOS_MANUAL_OVERRIDE, APPCAST_REQ, AVOID
  qbridge  = SAY_MOOS, LEG_RUN, ZIGGING, LEG_UPDATE, IM300_UPDATE
  qbridge  = ATURN, ATURN_ENGAGE, FSTOP_UPDATE, OPREGION_RESET

	bridge   = src=HEARTBEAT
	bridge   = src=DRIFT_VECTOR_ADD
	bridge   = src=DRIFT_VECTOR
	
  bridge   = src=HELM_MAP_CLEAR, alias=HELM_MAP_CLEAR
}

//--------------------------------------------------
// pLogger Config Block

ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10

  File          = XLOG_SHORESIDE
  PATH          = ./
  AsyncLog      = true
  FileTimeStamp = true
  LogAuxSrc     = true

	Log = VIEW_SEGLIST @ 0 NOSYNC
	Log = VIEW_POINT @ 0 NOSYNC
	
  // Log it all!!!!!
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = *_ITER_GAP
  WildCardOmitPattern = *_ITER_LEN
  WildCardOmitPattern = PSHARE_INPUT_SUMMARY
  WildCardOmitPattern = PSHARE_OUTPUT_SUMMARY
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}

//--------------------------------------------------
// pMarineViewer Config Block

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  set_pan_x  = 30
  set_pan_y  = -290
  zoom       = 1.5

  //tiff_file = forrest19.tif
  tiff_file  = MIT_SP.tif
  tiff_file  = mit_sp_osm18.tif
  tiff_file  = mit_sp_goo18.tif

  vehicles_shape_scale = 1.0
  vehicles_name_mode   = names

	show_title_user  = true
	show_title_mhash = true
	show_title_ip    = true
	
  circle_viewable_all = true
	point_viewable_labels = false
	
	beat_flag = HEARTBEAT=true
	//mission_hash_var = off
	
  appcast_viewable = true
  appcast_color_scheme = indigo

  left_context[station] = STATION_KEEP_$[UP_VNAME_CLOSEST] = true 
  left_context[return]  = RETURN_$[UP_VNAME_CLOSEST] = true 
  left_context[move_ctr] = LEG_UPDATE_$[UP_VNAME_CLOSEST] = shift_pt = $[XPOS],$[YPOS]
	
  scope  = FT_REPORT

  action = STATION_KEEP_ALL = false
  action = STATION_KEEP_ALL = true

	action = DRIFT_VECTOR_ADD=150,0.2
	action = DRIFT_VECTOR_ADD=15,0.2
	action = DRIFT_VECTOR=0,0
	
  button_1 = DEPLOY  # DEPLOY_ALL=true
  button_1 = MOOS_MANUAL_OVERRIDE_ALL=false
  button_1 = RETURN_ALL=false # STATION_KEEP_ALL=false
  button_1 = LEG_RUN_ALL=true

  button_2 = RETURN  # RETURN_ALL=true
  button_2 = RETURN  # STATION_KEEP_ALL=false

	button_3 = ALLSTOP # DEPLOY_ALL=false
	button_4 = STATION # STATION_KEEP_ALL=true	

	button_5 = LEN_MORE # LEG_UPDATE_ALL=leg_length_mod=2
	button_6 = LEN_LESS # LEG_UPDATE_ALL=leg_length_mod=-2

	button_7 = RAD_MORE # LEG_UPDATE_ALL=turn_rad_mod=0.25
	button_8 = RAD_LESS # LEG_UPDATE_ALL=turn_rad_mod=-0.25

	button_9  = ANG_MORE # LEG_UPDATE_ALL=leg_angle_mod=2
	button_10 = ANG_LESS # LEG_UPDATE_ALL=leg_angle_mod=-2

	button_11 = OPR_RESET # OPREGION_RESET_ALL=true
	button_12 = RFact1p0 # IM300_UPDATE_ALL=rfactor=1

	button_13 = RFact1p5 # IM300_UPDATE_ALL=rfactor=1.5
	button_14 = RFact2p0 # IM300_UPDATE_ALL=rfactor=2.0

	button_15 = RFact2p5 # IM300_UPDATE_ALL=rfactor=2.5
	button_16 = RFact3p0 # IM300_UPDATE_ALL=rfactor=3.0

	button_17 = LEGV_1p4 # LEG_UPDATE_ALL=speed=1.4
	button_18 = LEGV_1p2 # LEG_UPDATE_ALL=speed=1.2

	button_19 = LEGV_1p0 # LEG_UPDATE_ALL=speed=1.0
	button_20 = LEGV_0p8 # LEG_UPDATE_ALL=speed=0.8
}